• 한국산학기술학회논문지
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• 제11권5호
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• pp.1627-1632
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• 2010

본 논문에서는 거리별 측정오차 패턴을 적용한 보정 알고리즘(DCA1)의 위치인식 성능특성과 문제점을 분석하고 이를 개선한 알고리즘인 WPAN에서 거리별 측정오차 패턴을 적용한 위치인식 보정 알고리즘(DCA2)을 제안하였다. 위치인식 실험결과, 평균적으로 DCA1 및 DCA2는 각각 위치인식 지점의 60%이상, 75% 이상에서 SDS-TWR 보다 위치인식 성능이 더 우수하였고, 특히 $15m{\times}15m$의 실험공간에서는 DCA2는 SDS-TWR 보다 위치인식 지점의 91%에서 위치인식 정확도가 더 우수함을 확인하였다. 또한 $10m{\times}10m$ 및 $15m{\times}15m$의 실험공간에서 DCA2는 DCA1 보다 각각 16%, 22%의 위치인식 지점에서 위치인식 정확도가 더 우수하였고, DCA1 및 DCA2의 평균 위치인식 오차는 SDS-TWR보다 각각 7~12%, 20% 감소함을 확인하였다. 이와 같은 결과를 볼 때 DCA2가 SDS-TWR 및 DCA1 보다 위치인식 정확도가 가장 우수함을 알 수 있다.

• 로봇학회논문지
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• 제11권3호
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• pp.127-132
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• 2016

For a practical mobile robot team such as carrying out a search and rescue mission in a disaster area, the localization have to be guaranteed even in an environment where the network infrastructure is destroyed or a global positioning system (GPS) is unavailable. The proposed architecture supports localizing robots seamlessly by finding their relative locations while moving from a global outdoor environment to a local indoor position. The proposed schemes use a cooperative positioning system (CPS) based on the two-way ranging (TWR) technique. In the proposed TWR-based CPS, each non-localized mobile robot act as tag, and finds its position using bilateral range measurements of all localized mobile robots. The localized mobile robots act as anchors, and support the localization of mobile robots in the GPS-shadow region such as an indoor environment. As a tag localizes its position with anchors, the position error of the anchor propagates to the tag, and the position error of the tag accumulates the position errors of the anchor. To minimize the effect of error propagation, this paper suggests the new scheme of full-mesh based CPS for improving the position accuracy. The proposed schemes assuring localization were validated through experiment results.

• Nuclear Engineering and Technology
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• 제45권6호
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• pp.731-744
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• 2013

Energy security is a topic of high importance to many countries throughout the world. Countries with access to vast energy supplies enjoy all of the economic and political benefits that come with controlling a highly sought after commodity. Given the desire to diversify away from fossil fuels due to rising environmental and economic concerns, there are limited technology options available for baseload electricity generation. Further complicating this issue is the desire for energy sources to be sustainable and globally scalable in addition to being economic and environmentally benign. Nuclear energy in its current form meets many but not all of these attributes. In order to address these limitations, TerraPower, LLC has developed the Traveling Wave Reactor (TWR) which is a near-term deployable and truly sustainable energy solution that is globally scalable for the indefinite future. The fast neutron spectrum allows up to a ~30-fold gain in fuel utilization efficiency when compared to conventional light water reactors utilizing enriched fuel. When compared to other fast reactors, TWRs represent the lowest cost alternative to enjoy the energy security benefits of an advanced nuclear fuel cycle without the associated proliferation concerns of chemical reprocessing. On a country level, this represents a significant savings in the energy generation infrastructure for several reasons 1) no reprocessing plants need to be built, 2) a reduced number of enrichment plants need to be built, 3) reduced waste production results in a lower repository capacity requirement and reduced waste transportation costs and 4) less uranium ore needs to be mined or purchased since natural or depleted uranium can be used directly as fuel. With advanced technological development and added cost, TWRs are also capable of reusing both their own used fuel and used fuel from LWRs, thereby eliminating the need for enrichment in the longer term and reducing the overall societal waste burden. This paper describes the origins and current status of the TWR development program at TerraPower, LLC. Some of the areas covered include the key TWR design challenges and brief descriptions of TWR-Prototype (TWR-P) reactor. Selected information on the TWR-P core designs are also provided in the areas of neutronic, thermal hydraulic and fuel performance. The TWR-P plant design is also described in such areas as; system design descriptions, mechanical design, and safety performance.

• 대한임베디드공학회논문지
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• 제5권4호
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• pp.234-242
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• 2010

Two-way ranging methods such as TWR and SDS-TWR have been considered for many ranging systems because these methods are useful in the absence of synchronization. To estimate the location of a mobile node, complicated ranging procedures consisting of ranging frames between an anchor node and the mobile node are performed. Supporting multiple mobile nodes such as a few hundreds or thousands and several anchor nodes, the ranging procedures have the fatal disadvantage of processing delay and inefficient traffic bandwidth. On the other hand, the one-way ranging method is simple and fast, but susceptible to network synchronization. In this paper, we propose a method to modify asynchronous ranging equations to establish exact frequency or frequency offset, a method to estimate frequencies or frequency offsets, and a method to establish post-facto synchronization with anchor nodes. The synchronization for a node pair is adapted using instantaneous time information and corresponding difference of distances can be determined. We evaluate the performance of TWR, SDS-TWR and proposed ranging algorithms.

• 대한전자공학회논문지TC
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• 제47권7호
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• pp.18-22
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• 2010

본 논문에서는 실내 환경에서 초광대역 무선통신을 이용한 양방향 위치인식 기법의 성능을 분석하였다. 실험 환경은 IEEE802.15.3a 채널을 사용하였고, 위치인식 기법으로 TOA를 적용하여 분석하였다. 초광대역 무선통신 기술은 낮은 송신 전력으로 기존 시스템에 간섭의 영향이 적고, 주파수 공유가 가능하므로 주파수 효율을 높일 수 있다. 그리고 매우 좁은 폭을 갖는 펄스를 사용하기 때문에 위치인식의 정밀도가 높다. 비동기 TWR 프로토콜을 이용한 TOA방식은 단말과 기지국뿐만 아니라 기지국들 간에도 동기화를 수행하지 않아도 되는 장점이 있다. 모의실험을 통하여 초광대역 무선통신을 이용한 위치인식 기법의 실내 채널 영향에 대한 오류 확률 및 위치인식 성능에 대해 분석하였고 제안된 기법의 유용성을 확인하였다.

• 한국통신학회논문지
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• 제39B권9호
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• pp.570-577
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• 2014

거리 기반 실시간 측위 시스템에서 보다 정확한 측위가 가능하기 위해서는 우수한 측위 알고리즘과 함께 거리측정의 정확도 확보도 필수적으로 요구된다. 본 논문에서는 두 노드 간의 실제적인 거리측정의 정확도를 평가하기 위해 기존의 Symmetry 가정이 제거된 SDS-TWR 거리계산식 유도에 의한 정성적인 분석을 수행하고, 개발된 센서노드를 활용해 테스트 네트워크를 구축한 후 실험결과에 의한 정량적인 평가를 동시에 수행한다. 본 연구에서 구현된 IEEE 802.15.4a 소프트웨어 스택을 탑재한 센서노드 환경이 기존 나노트론사의 상용 참조보드 환경보다 평균 약 60% 감소된 거리측정 오차율을 산출하여 상대적으로 매우 높은 거리측정 정확도를 보인다.

• 로봇학회논문지
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• 제12권3호
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• pp.350-355
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• 2017

UWB (Ultra Wide Band) refers to a system with a bandwidth of over 500 MHz or a bandwidth of 20% of the center frequency. It is robust against channel fading and has a wide signal bandwidth. Using the IR-UWB based ranging system, it is possible to obtain decimeter-level ranging accuracy. Furthermore, IR-UWB system enables acquisition over glass or cement with high resolution. In recent years, IR-UWB-based ranging chipsets have become cheap and popular, and it has become possible to implement positioning systems of several tens of centimeters. The system can be configured as one-way ranging (OWR) positioning system for fast ranging and TWR (two-way ranging) positioning system for cheap and robust ranging. On the other hand, the ranging based positioning system has a limitation on the number of terminals for localization because it takes time to perform a communication procedure to perform ranging. To overcome this problem, code multiplexing and channel multiplexing are performed. However, errors occur in measurement due to interference between channels and code, multipath, and so on. The measurement filtering is used to reduce the measurement error, but more fundamentally, techniques for removing these measurements should be studied. First, the TWR based positioning was analyzed from a stochastic point of view and the effects of outlier measurements were summarized. The positioning algorithm for analytically identifying and removing single outlier is summarized and extended to three dimensions. Through the simulation, we have verified the algorithm to detect and remove single outliers.

• 한국산업정보학회논문지
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• 제18권6호
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• pp.17-24
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• 2013

거리측정(Ranging-based) 기반 무선측위 알고리즘을 활용하는 무선 네트워크 환경에서 위치추적의 정확도는 노드들 간의 거리측정의 정확도에 크게 좌우된다. 저전력 무선 네트워크 환경에서 거리측정 기반 무선측위의 실용화를 위해서는 하드웨어에서 제공하는 거리측정 정확도를 훼손시키지 않고 그대로 유지할 수 있는 안정된 HAL(Hardware Abstraction Layer)과 MAC(Medium Access Layer) 소프트웨어의 구현이 요구된다. 본 연구에서는 IEEE 802.15.4a를 지원하는 RF 칩인 나노트론(Nanotron)사의 NA5TR1를 기반으로 한 센서노드를 제작한 후 이 노드에 탑재될 IEEE 802.15.4a 소프트웨어 스택의 기본적인 기능을 설계 구현하였다. 소프트웨어 스택은 나노트론 사의 SDS-TWR 기법의 일반모드를 거리측정 알고리즘으로 채택 지원하고 있다. 개발된 센서노드를 활용해 테스트 네트워크를 구축한 후 노드간의 실 환경에서 실시간 거리측정의 정확도를 평가한 결과 SDS-TWR의 일반모드에서 평균 거리측정 오류율은 24.2%인 것으로 나타났다.

• Journal of Communications and Networks
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• 제13권3호
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• pp.250-256
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• 2011

A two-way relaying (TWR) system is analyzed, where two source terminals with unequal numbers of antennas exchange data via an amplify-and-forward relay terminal with a single antenna. In the system considered herein, the link quality between the sources and relay can generally be asymmetric due to the nonidentical antenna configuration, power allocation, and relay location. In such a general setup, accurate bounds on the average sum rate (ASR) are derived when beamforming or orthogonal space time block coding is employed at the sources. We show that the proposed bounds are almost indistinguishable from the exact ASR under various system configurations. It is also observed that the ASR performance of the TWR system with unequal numbers of source antennas is more sensitive to the relay location than to the power allocation.

• Journal of Communications and Networks
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• 제18권4호
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• pp.629-638
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• 2016

In this paper, we investigate an energy-efficient resource allocation problem in a two-way relay (TWR) network consisting of multiple user pairs and an amplify-and-forward (AF) relay. As the users and relay have individual energy efficiencies (EE), we formulate a multi-objective optimization problem (MOOP). A single-objective optimization problem (SOOP) of the MOOP is introduced using a weighted-sum method, which achieves a single Pareto optimal point of the MOOP. To derive the algorithm for the SOOP, we propose a more tractable equivalent problem using the Karush-Kuhn-Tucker conditions of the SOOP, which guarantees convergence at the local optimal points. The proposed equivalent problem can be efficiently solved by the proposed iterative algorithm. Numerical results demonstrate the effectiveness of the proposed algorithm in achieving the optimal EE in multi-user AF TWR networks.